axis_angle_from_rotation_matrix

sknano.core.math.transforms.axis_angle_from_rotation_matrix(rmatrix)

Compute the rotation axis and angle from a rotation matrix.

Parameters:rmatrix (ndarray) – Returns:

• axis (Vector)
• angle (numpy.float)
• .. todo (:) –

  Fix code to compute the correct sense of the rotation or direction of rotation axis vector.